Research On Grinding Robot System Based On LabVIEW

With the continuous development of science and technology,it is an inevitable trend of industrial development to replace artificial by automation and intelligence.In China,the annual output of castings is about 50 million tons.However,with such a large scale of production,the post-treatment of castings is mainly manual.In order to improve the production efficiency,some enterprises introduce FANUC,ABB and other grinding robots,but due to the high cost,it is undoubtedly a large cost for small and medium-sized foundry enterprises.At present,FANUC,ABB and other enterprises have not developed grinding robots that are competent for super large and super heavy castings.Therefore,the research and development of general robots that can solve large-scale and complex castings has become the focus of post-processing technology of castings.The localization of the core technology of grinding robots can not only greatly reduce the production cost of grinding robots,but also fill the blank of post-processing technology of castings at home and abroad.In this paper,the virtual instrument technology Lab VIEW and the programmable multi axis motion controller CK3M are combined to develop a grinding robot system that can solve the problem of large castings,optimize the control strategy and ensure the rigidity of the manipulator.The main contents of this paper are as follows:(1)The system uses the programmable multi axis motion controller CK3M to realize the data acquisition and precise motion control of grinding robot.The parameters are analyzed theoretically,and the parameters after configuration are tested.The precise control is realized by adjusting and optimizing the parameters of servo motor.(2)In LabVIEW,Modbus and SSH communication modules are constructed by using(.Net)function builder and library function call,which realizes the communication between upper and lower computers.At the same time,the forward and inverse solutions of the grinding robot motion model are analyzed,the geometric errors of the grinding robot are processed by Chebyshev polynomial model,and the error compensation module is designed to ensure the repeated positioning accuracy of the manipulator.(3)In order to meet the needs of large and heavy castings,force feedback device Omega3 is adopted to realize the communication between Omega3 and upper computer LabVIEW through the method of dynamic link library file call,and the force control operation function of grinding robot is designed.(4)In the upper computer LabVIEW,through calling the Access database module,the output data is stored to realize the output information statistics and screening function;based on the virtual instrument technology,the fault reasoning expert system is developed to analyze and reason the fault symptom information to realize the fault detection and display.The system has been put into use in the casting field.Through the actual grinding operation,it has been proved that the grinding robot based on Lab VIEW has friendly human-machine interface,simple equipment operation,and can meet the grinding operation of medium and large castings.It can still operate stably in the harsh working environment,greatly improving the grinding efficiency of castings.